Statics

CH4 Equilibrium of Rigid Bodies

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 Objectives

1. Analyze the static equilibrium of rigid bodies in two and three dimensions.
2. Draw complete and correct free-body diagrams.
3. Find reactions at supports and connections.
4. Examine rigid bodies supported by statically indeterminate reactions and partial constrains.

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 Introduction

• A body is said to be in equilibrium when the external forces acting on it from a system of force equivalent is zero.
• The necessary and sufficient conditions for the equilibrium of the rigid body is

𝚺𝚺𝑭𝑭 = 𝟎𝟎 𝚺𝚺𝑴𝑴𝟎𝟎 = 𝚺𝚺 𝒓𝒓 × 𝑭𝑭 = 𝟎𝟎

𝚺𝚺𝑭𝑭𝒙𝒙 = 𝟎𝟎 𝚺𝚺𝑴𝑴𝒙𝒙 = 𝟎𝟎

𝚺𝚺𝑭𝑭𝒚𝒚 = 𝟎𝟎 𝚺𝚺𝑴𝑴𝒚𝒚 = 𝟎𝟎

𝚺𝚺𝑭𝑭𝒛𝒛 = 𝟎𝟎 𝚺𝚺𝑴𝑴𝒛𝒛 = 𝟎𝟎

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 Free-Body Diagram
• The following steps which must be followed in drawing a free-body diagram
1. Select the extent of the free-body and detach it from the ground and all other bodies.
2. Indicate point of application, magnitude, and direction of external forces, including the rigid body weight.
3. Indicate point of application and assumed direction of unknown applied forces. These usually consist of reactions through
which the ground and other bodies oppose the possible motion of the rigid body.
4. Include the dimensions necessary to compute the moments of the forces.

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 Equilibrium of a rigid body in two dimension

• The reactions exerted on a 2D structure may be divided into three

groups
1. Reactions equivalent to forces with known line of action. e.g.
rollers, rockers, smooth surface, short links and cables, etc.
The line of action of the reaction is known and should be
indicated clearly in the free-body diagram.
2. Reactions equivalent to a force with unknown direction and
magnitude. e.g. smooth pins, hinges, rough surface, etc.
Reaction in the group involves two unknowns, which are
usually represented by x and y components.
3. Reaction equivalent to a force of unknown direction and
magnitude and a couple of unknown magnitude. e.g. fixed
supports. Reaction of this group involves three unknowns,
two components of force and the moment.

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 Equilibrium of a rigid body in two dimension

• For all forces and moments acting on a two-dimensional structure,

𝑭𝑭𝒛𝒛 = 𝟎𝟎 𝑴𝑴𝒙𝒙 = 𝑴𝑴𝒚𝒚 = 𝟎𝟎 𝑴𝑴𝒛𝒛 = 𝑴𝑴𝑶𝑶
(equilibrium equations are reduced from 6 to 3)
• Equations of equilibrium become
𝚺𝚺𝑭𝑭𝒙𝒙 = 𝟎𝟎 𝚺𝚺𝑭𝑭𝒚𝒚 = 𝟎𝟎 𝚺𝚺𝑴𝑴A = 𝟎𝟎
(where A is any point in the plane of the structure.)
• The 3 equations can be solved for no more than 3 unknowns.
• Any of 3 equations can be replaced by another equation to solve 3
unknowns. e.g. for a truss supported to loading
e. g. 𝚺𝚺𝑭𝑭𝒙𝒙 = 𝟎𝟎 𝚺𝚺𝑴𝑴A = 𝟎𝟎 𝚺𝚺𝑴𝑴𝑩𝑩 = 𝟎𝟎 𝚺𝚺𝑴𝑴A = 𝟎𝟎 ⇒ 𝑩𝑩
𝚺𝚺𝑭𝑭𝒙𝒙 = 𝟎𝟎 ⇒ 𝑨𝑨𝒙𝒙
𝚺𝚺𝑭𝑭𝒚𝒚 = 𝟎𝟎 ⇒ 𝑨𝑨𝒚𝒚
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 Statically Indeterminate Reactions, Partial Constrains

• In previous section, 3 unknowns are solved by 3 equations, it is said to be statically determinate, and the rigid body is said to be
completely constrained.
• For a truss supported by 2 hinges:
More unknowns than equations. The component Ax
𝚺𝚺𝑴𝑴A = 𝟎𝟎 ⇒ 𝑩𝑩𝒚𝒚 and Bx are said to be statically indeterminate, it may
𝚺𝚺𝑴𝑴𝑩𝑩 = 𝟎𝟎 ⇒ 𝑨𝑨𝒚𝒚 be solved by the method of mechanics of materials.
𝚺𝚺𝑭𝑭𝒙𝒙 = 𝟎𝟎 ⇒ 𝑨𝑨𝒙𝒙 + 𝑩𝑩𝒙𝒙

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 Statically Indeterminate Reactions, Partial Constrains
• For a truss supported by 2 rollers:

Fewer unknowns than equations, partially constrained.

𝚺𝚺𝑴𝑴A = 𝟎𝟎 ⇒ 𝑩𝑩
Unless the sum of the horizontal component equal zero,
𝚺𝚺𝑴𝑴𝑩𝑩 = 𝟎𝟎 ⇒ 𝑨𝑨 otherwise the equilibrium cannot be maintained under
general loading condition. Therefore, it is only partially
𝚺𝚺𝑭𝑭𝒙𝒙 ≠ 𝟎𝟎 constrained.

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 Statically Indeterminate Reactions, Partial Constrains

• For a truss supported by 3 rollers:

𝚺𝚺𝑴𝑴A = 𝟎𝟎 ⇒ 𝑩𝑩 Equal number for unknowns and equations. e.g. 3

equations for 3 unknowns but 𝚺𝚺𝑭𝑭𝒙𝒙 ≠ 𝟎𝟎. Therefore it is
𝚺𝚺𝑴𝑴𝑩𝑩 = 𝟎𝟎 ⇒ 𝑨𝑨
said to be improperly constrained. The improper
𝚺𝚺𝑭𝑭𝒙𝒙 ≠ 𝟎𝟎 constrain also produce static indeterminacy.

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Statically Indeterminate Reactions, Partial Constrains

• For a truss supported by a hinge and two links:

𝚺𝚺𝑴𝑴A ≠ 𝟎𝟎 e.g. 3 equations for 4 unknowns but 𝚺𝚺𝑴𝑴𝑨𝑨 ≠ 𝟎𝟎 (unstable).

Therefore it is also improperly constrained. A rigid body
𝚺𝚺𝑭𝑭𝒙𝒙 = 𝟎𝟎 ⇒ 𝑨𝑨𝒙𝒙
is improperly constrained whenever the supports are
𝚺𝚺𝑭𝑭𝒚𝒚 = 𝟎𝟎 ⇒ 𝑨𝑨𝒚𝒚 arranged in such a way that the reactions must be either
concurrent or parallel.

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• Q1: mass of a fixed crane = 1000 kg, mass of a crate = 2400 kg. the center of gravity of the crane is at G. Determine the
components of the reactions at A and B.

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• Q2: A loading car is at rest on an inclined track. The gross weight of the car and its load is 25 kN. Determine (a) the tension in
the cable and (b) the reaction at each pair of wheels.

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 Equilibrium of a Two-Force Body

• Two-force body: a rigid body subjected to two forces only if the tow-force body is in equilibrium, the two forces must have the
same magnitude, same line of action, and opposite direction.

1. Consider a plate subjected to two forces F1 and F2

𝚺𝚺𝑴𝑴A , 𝚺𝚺𝑴𝑴𝑩𝑩 ≠ 𝟎𝟎
2. For static equilibrium, the sum of moments about A must be
zero. The moment of F2 must be zero. It follows that the
line of action of F2 must pass through A.
𝚺𝚺𝑴𝑴A = 𝟎𝟎, 𝚺𝚺𝑴𝑴𝑩𝑩 ≠ 𝟎𝟎
3. Similarly, the line of action of F1 must pass through B for
the sum of moments about B to be zero.

𝚺𝚺𝑴𝑴A , 𝚺𝚺𝑴𝑴𝑩𝑩 = 𝟎𝟎 4. Requiring that the sum of forces in any direction be zero
𝚺𝚺𝑭𝑭𝒙𝒙 = 𝟎𝟎 (if 𝑭𝑭𝟏𝟏 = 𝑭𝑭𝟐𝟐 ) leads to the conclusion that F1 and F2 must have equal
magnitude but opposite sense.
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 Equilibrium of a Three-Force Body

• Three-force body: a rigid body subjected to forces acting at only three points.
• if the three-force body is in equilibrium, the line of action of the three forces must be either concurrent or parallel.

1. Consider a rigid body subjected to forces acting at only 3 points.

2. Assuming that their lines of action intersect, the moment of F1 and F2

about the point of intersection represented by D is zero.

3. Since the rigid body is in equilibrium, the sum of the moments of F1, F2
and F3 about any axis must be zero. It follows that the moment of F3
about D must be zero as well and that the line of action of F3 must pass
through D.

4. The lines of action of the three forces must be concurrent or parallel.

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• Q3: A man raises a 10 kg joist, of length 4 m, by pulling on a rope. Find the tension in the rope and the reaction at A.

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 Equilibrium of a rigid body in three dimensions

• 6 scalar equations are required to express the conditions for the equilibrium of a rigid body in the general three dimensional
case.
𝚺𝚺𝑭𝑭𝒙𝒙 = 𝟎𝟎 𝚺𝚺𝑭𝑭𝒚𝒚 = 𝟎𝟎 𝚺𝚺𝑭𝑭𝒛𝒛 = 𝟎𝟎
𝚺𝚺𝑴𝑴𝒙𝒙 = 𝟎𝟎 𝚺𝚺𝑴𝑴𝒚𝒚 = 𝟎𝟎 𝚺𝚺𝑴𝑴𝒛𝒛 = 𝟎𝟎

• If reactions involve more than 6 unknowns, it is statically indeterminate.

• If reactions involve less than 6 unknowns, it is partially constrained. (some of the equation cannot be satisfied)

• If the reaction forces are either parallel of concurrent or pass through an axis, the rigid body is then improperly constrained
(unstable)

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Reactions at Supports and Connections for a Three-Dimensional
Structure

(two unknowns)

(three unknowns)
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(four unknowns) (six unknowns)

(four unknowns)

(five unknowns)
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• Q4: A sign of uniform density weighs 1200 N and is supported by a ball-and-socket joint at A and by two cables. Determine the
tension in each cable and the reaction at A.

1.2 m

0.9 m

1.5 m

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